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<p>Data structure containing parameters for quadruped robot.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="../../db/dbb/_actuator_model_8h_source.html">Dynamics/ActuatorModel.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">Dynamics/FloatingBaseModel.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">Dynamics/SpatialInertia.h</a>&quot;</code><br />
<code>#include &lt;eigen3/Eigen/StdVector&gt;</code><br />
<code>#include &lt;vector&gt;</code><br />
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<p><a href="../../d3/dc7/_quadruped_8h_source.html">Go to the source code of this file.</a></p>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d66/class_quadruped.html">Quadruped&lt; T &gt;</a></td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a8b8dc9f96094b6454c45ee2886cbfe5a"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 &gt; </td></tr>
<tr class="memitem:a8b8dc9f96094b6454c45ee2886cbfe5a"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/dc7/_quadruped_8h.html#a8b8dc9f96094b6454c45ee2886cbfe5a">withLegSigns</a> (const Eigen::MatrixBase&lt; T2 &gt; &amp;v, int legID)</td></tr>
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Variables</h2></td></tr>
<tr class="memitem:a8e4d5f214fc5ed6d084bc0fccb251627"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/dfa/namespacecheetah.html#a8e4d5f214fc5ed6d084bc0fccb251627">cheetah::num_act_joint</a> = 12</td></tr>
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<tr class="memitem:a5b5bb4b839356f55085fb37875cc14b1"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/dfa/namespacecheetah.html#a5b5bb4b839356f55085fb37875cc14b1">cheetah::num_q</a> = 19</td></tr>
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<tr class="memitem:a7fc05e6429caed9bf396c1de79f7efbf"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/dfa/namespacecheetah.html#a7fc05e6429caed9bf396c1de79f7efbf">cheetah::dim_config</a> = 18</td></tr>
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<tr class="memitem:add5dd7f0217057fabd6ecde30688abbf"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/dfa/namespacecheetah.html#add5dd7f0217057fabd6ecde30688abbf">cheetah::num_leg</a> = 4</td></tr>
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<tr class="memitem:a5483d02fe11877b1dea592d745d28ac9"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/dfa/namespacecheetah.html#a5483d02fe11877b1dea592d745d28ac9">cheetah::num_leg_joint</a> = 3</td></tr>
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<tr class="memitem:a1e82ce8257faedef94241fa79dd242d8"><td class="memItemLeft" align="right" valign="top">constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/dfa/namespacecheetah.html#a1e82ce8257faedef94241fa79dd242d8">cheetah::servo_rate</a> = 0.001</td></tr>
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<tr class="memitem:a8eb4095835e065326dcf1d5fe26d4b9d"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#a8eb4095835e065326dcf1d5fe26d4b9d">linkID::FR</a> = 9</td></tr>
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<tr class="memitem:a63743a31843d83e8b99772323ad557f9"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#a63743a31843d83e8b99772323ad557f9">linkID::FL</a> = 11</td></tr>
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<tr class="memitem:a47bf02fb1ddc7d79f862bfb0667c9ee8"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#a47bf02fb1ddc7d79f862bfb0667c9ee8">linkID::HR</a> = 13</td></tr>
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<tr class="memitem:a9ec44e37a55ff0c04f82281626613bb1"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#a9ec44e37a55ff0c04f82281626613bb1">linkID::HL</a> = 15</td></tr>
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<tr class="memitem:a9fe3d0127d71419a83f3b592e445916c"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#a9fe3d0127d71419a83f3b592e445916c">linkID::FR_abd</a> = 2</td></tr>
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<tr class="memitem:af1caf5f2fcd86b328a8b143efd30198d"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#af1caf5f2fcd86b328a8b143efd30198d">linkID::FL_abd</a> = 0</td></tr>
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<tr class="memitem:ab7737d4eb5e5c0f261ebb82a6bd57ab1"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#ab7737d4eb5e5c0f261ebb82a6bd57ab1">linkID::HR_abd</a> = 3</td></tr>
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<tr class="memitem:adc10b97ff6188ddcb914c6ff6cf82a3c"><td class="memItemLeft" align="right" valign="top">constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d53/namespacelink_i_d.html#adc10b97ff6188ddcb914c6ff6cf82a3c">linkID::HL_abd</a> = 1</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Data structure containing parameters for quadruped robot. </p>
<p>This file contains the <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a> class. This stores all the parameters for a quadruped robot. There are utility functions to generate <a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a> objects for Cheetah 3 (and eventually mini-cheetah). There is a buildModel() method which can be used to create a floating-base dynamics model of the quadruped. </p>

<p>Definition in file <a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Quadruped.h</a>.</p>
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template&lt;typename T , typename T2 &gt; </div>
      <table class="memname">
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; withLegSigns </td>
          <td>(</td>
          <td class="paramtype">const Eigen::MatrixBase&lt; T2 &gt; &amp;&#160;</td>
          <td class="paramname"><em>v</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>legID</em>&#160;</td>
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          <td>)</td>
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<p>Flip signs of elements of a vector V depending on which leg it belongs to </p>

<p>Definition at line <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html#l00207">207</a> of file <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html">Quadruped.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                                                              {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  static_assert(T2::ColsAtCompileTime == 1 &amp;&amp; T2::RowsAtCompileTime == 3,</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                <span class="stringliteral">&quot;Must have 3x1 matrix&quot;</span>);</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">switch</span> (legID) {</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">case</span> 0:</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(v[0], -v[1], v[2]);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">case</span> 1:</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(v[0], v[1], v[2]);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">case</span> 2:</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-v[0], -v[1], v[2]);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">case</span> 3:</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-v[0], v[1], v[2]);</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">default</span>:</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Invalid leg id!&quot;</span>);</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  }</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
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